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32	32	Once the route has been started, WAF walks ahead to show the way. When approaching turns, WAF indicates which way to go by slightly moving towards the desired direction and moving his head to indicate the turn. When the patient does well (e.g. follows WAF consistently), WAF gives positive reinforcement in the form of excited sounds and a wagging tail.
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34	34	=== Ensuring the patient stays on path ===
35		-To assist WAF in ensuring the patient stays on the route, the patient will wear a proximity bracelet. The proximity bracelet is a small hand-held device that visually resembles a leash handle. It contains four main components: lights, a vibration motor, an accelerometer, and a distance sensor. The distance sensor will communicate the patients' distance to WAF with WAF so that WAF knows when the patient stops following him. When this happens, the lights and the vibration motor can be used to bring the attention of the patient back to WAF.
	35	+To assist WAF in ensuring the patient stays on the route, the patient will wear a proximity bracelet. It contains four main components: lights, a vibration motor, an accelerometer, and a distance sensor. The distance sensor communicates the patients' distance to WAF with WAF so that WAF knows when the patient stops following him. When this happens, the lights and the vibration motor are used to bring the attention of the patient back to WAF.
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37		-Ideally, the proximity bracelet would be replaced with an actual leash as this would resemble walking a dog more and would ensure that a patient does not walk away from WAF. However, due to the frailty of WAF, this is not possible. This is explained in more detail in [[Robotic Partner>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Human%20Factors/Robotic%20Partner/]].
	37	+Ideally, we would replace the proximity bracelet with an actual leash containing each of the components mentioned before. This would resemble walking with a dog more and would ensure that a patient does not walk away from WAF. However, due to the frailty of MiRo, this is not possible. This is explained in more detail in [[Humanoid Robot>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Technology/Humanoid%20Robot/]].
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39	39	It is possible that at some point on the walking route, the PwD stops following WAF. The system will be able to detect this through the distance sensor and act upon this. First, WAF will turn around and try to get the attention of the PwD by barking and flashing its colourful lights. If the PwD appears to follow WAF again, it will resume the current path. If not, the PwD can either be moving away from WAF or not moving at all.
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41		-If the PwD moves away from WAF, WAF will follow them and keep trying to get their attention by making noises and flashing lights. WAF can also try to drive in front of them, making it easier to get attention, as WAF is now in the user's field of view. Additionally, the proximity bracelet will flash small lights and start vibrating. Once the user's attention is back at the WAF, they should be convinced to turn back. This will be done mostly through emotions. WAF will show excitement towards the correct path, by looking at it, taking some "steps" in its direction, making excited sounds, and wagging its tail. WAF can also look at the user and tilt its head, similarly to how a dog would ask its owner to keep walking. If the user is confused, these methods, combined with the leash they're holding, could remind them what they are doing. If the user is being stubborn, the excitement and begging motion from WAF could convince them to keep walking.
	41	+If the PwD moves away from WAF, WAF will follow them and keep trying to get their attention by making noises and flashing lights. WAF can also try to drive in front of them, making it easier to get attention, as WAF is now in the user's field of view. Additionally, the proximity bracelet will flash small lights and start vibrating. Once the user's attention is back at the WAF, they should be convinced to turn back. This will be done mostly through emotions. WAF will show excitement towards the correct path, by looking at it, taking some "steps" in its direction, making excited sounds, and wagging its tail. WAF can also look at the user and tilt its head, similarly to how a dog would ask its owner to keep walking. If the user is confused, these methods, combined with the proximity bracelet that they are wearing, could remind them what they are doing. If the user is being stubborn, the excitement and begging motion from WAF could convince them to keep walking.
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43		-If the PwD does not walk further away from WAF, we assume them to be taking a break either by resting or by talking with someone. As both of these options are important for PwD's, WAF should allow for this. WAF will therefore wait patiently until the PwD starts following him again. Additionally, WAF occasionally tilts his head and makes a little noise to resemble a dog that is awaiting instructions/confused. Once the PwD starts coming closer to WAF again, WAF will resume its path.
	43	+If the PwD does not walk further away from WAF, we assume them to be taking a break either by resting or by talking with someone. As both of these options are important for PwD, WAF should allow for this. WAF will therefore wait patiently until the PwD starts following him again. Additionally, WAF occasionally tilts his head and makes a little noise to resemble a dog that is awaiting instructions/confused. Once the PwD starts coming closer to WAF again, WAF will resume its path.
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45	45	=== Alerting caretaker ===
46	46	If the PwD diverts from their path too far, causing the proximity grip to lose connection, WAF will alert a caretaker or the activity coordinator so that they can intervene. Finally, it is also possible that the PwD falls. For this, the proximity grip will also contain an accelerometer. The accelerometer will be able to detect heavy vertical acceleration, which, combined with little to no change in distance to WAF would indicate a fall. If detected, WAF will automatically alert a caretaker.
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48	48	=== Voice commands and customisable names ===
49		-Unfortunately, due to the programming difficulties of the MiRo robot as described in [[Humanoid Robot>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Technology/Humanoid%20Robot/]], it was not possible to implement voice commands and customisable names. The
	49	+Unfortunately, due to the programming difficulties of the MiRo robot as described in [[Humanoid Robot>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Technology/Humanoid%20Robot/]], it was not possible to implement voice commands and customisable names.
50	50	=== Path choice freedom ===
51		-Just like the voice commands, programming any form of path freedom was also not possible with the MiRo robot.
	51	+Just like the voice commands, programming any form of path freedom was also not possible with the MiRo robot. Additionally, these limitations did not allow us to code any obstacle avoidance.
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53	53	=== Snoezelen ===
54		-Given the limitations imposed by the design of MiRo described in [[Robotic Partner>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Human%20Factors/Robotic%20Partner/]], snoezelen is not feasible. However, we do think that it could potentially be an interesting area for future work, as it could change the robot from just a walking assistant to a robotic pet or companion. Our ideas and findings on this can be found in the [[Snoezelen>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Main/Conclusion/]] section of the conclusion.
	54	+Given the limitations with regard to the frailty of MiRo described in [[Humanoid Robot>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Foundation/Technology/Humanoid%20Robot/]], snoezelen is not feasible. However, we do think that it could potentially be an interesting area for future work, as it could change the robot from just a walking assistant to a robotic pet or companion. Our ideas and findings on this can be found in the [[Snoezelen>>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/view/Main/Conclusion/]] section of the conclusion.
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56	56	=== Flowchart ===
57	57	[[image:https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group02/download/Functions/WebHome/